CN105684630A - Remote control intelligent lawn art trimming machine - Google Patents
Remote control intelligent lawn art trimming machine Download PDFInfo
- Publication number
- CN105684630A CN105684630A CN201610048255.4A CN201610048255A CN105684630A CN 105684630 A CN105684630 A CN 105684630A CN 201610048255 A CN201610048255 A CN 201610048255A CN 105684630 A CN105684630 A CN 105684630A
- Authority
- CN
- China
- Prior art keywords
- finishing machine
- master control
- orientation
- communication master
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to the technical field of gardening machines, and particularly relates to a remote control intelligent lawn art trimming machine. The remote control intelligent lawn art trimming machine comprises a trimming machine body, a positioning communication master control board, an ultrasonic transmitter, ultrasonic receiving columns, a motor driving board, an attitude acquisition sensor, a photoelectric encoder, a multistage tool, a computer and a charging device. The ultrasonic transmitter is installed at the front end of the trimming machine body, the four ultrasonic receiving columns are installed at the rear end of the trimming machine body, the other components are installed on the trimming machine body, and the computer is in remote connection with the positioning communication master control board through a wireless channel. Precise positioning of the trimming machine body on a lawn is achieved based on the ultrasonic ranging and strapdown inertial navigation integrated positioning technology, the trimming machine body can perform trimming on the lawn according to preset characters or patterns on the computer, and the problem that accurate trimming is difficult in lawn art trimming is solved; meanwhile, the charging device is arranged in the machine body. The remote control intelligent lawn art trimming machine is high in automation degree, has the advantage of long distance and high efficiency, and can efficiently and automatically perform intelligent lawn trimming work in regulated areas.
Description
Technical field
The invention belongs to horticultural machinery equipment technical field, be specifically related to a kind of remotely control intelligence lawn art finishing machine。
Background technology
Along with lawn effect in urban afforestation highlights day by day, lawn machine becomes one of most important equipment in turf management；And the improving constantly of people's esthetic requirement so that the artistic finish applications on lawn is more and more extensive。Conventional art finishing mode is all pure artificial or uses manually operated machinery, and relatively working hard for turf management personnel, also do not reach exactly accurate effect simultaneously, and need related personnel to have rich experience, condition is also harsher。For the above situation, we study a kind of remotely control intelligence lawn art finishing machine, are realized path planning and the accurately finishing of finishing machine by intelligent algorithm and integrated positioning system。
Summary of the invention
It is an object of the invention to reduce the difficulty of lawn art finishing, improve the automaticity of art finishing。
For this, the invention provides a kind of remotely control intelligence lawn art finishing machine, including finishing machine, also include orientation and communication master control borad, ultrasonic transmitter, ultrasound wave receives post, motor drives plate, Posture acquisition sensor, photoelectric encoder, multistage tool, computer and charging device, it is characterized in that: the front end of finishing machine is equipped with a ultrasonic transmitter, the tail end of finishing machine receives post with four ultrasound wave, equipped with orientation and communication master control borad on finishing machine, motor-driven plate, Posture acquisition sensor, photoelectric encoder, multistage tool and charging device, computer is remotely connected by radio channel and orientation and communication master control borad；Described ultrasound wave receives post and is arranged on around the print area of lawn, being connected by radio communication line with orientation and communication master control borad, ultrasonic transmitter, motor drive plate, Posture acquisition sensor, photoelectric encoder, multistage tool to be connected with orientation and communication master control borad；Described computer is used for drawing the pattern or track to repair, is connected by wireless and orientation and communication master control borad and remotely controls finishing machine。
Described computer can choose the planning with path according to what the figure of user's input carried out profile, and converts coordinate figure to by algorithm, is sent to orientation and communication master control borad by radio communication line。
Described orientation and communication master control borad, according to the coordinate figure received, controls the course of finishing machine, and the integrated navigation system being made up of Posture acquisition sensor and photoelectric encoder, auxiliary ultrasonic range-measurement system completes being accurately positioned of finishing machine。
Described multistage tool according to the difference of predetermined pattern or word, can regulate the height of cutter。
The type of drive of described finishing machine is driven by power, is charged by charging device。
A kind of remotely control intelligence lawn art finishing machine, including following operating procedure:
A, being drawn on computers the targeted graphical of required finishing, then the computer figure to drawing carries out profile and chooses and path planning, then by algorithm, result is carried out Coordinate Conversion, and the flex point place generally choosing profile is zero。
After b, initial point and coordinate are all determined, starting orientation and communication master control borad, destination path coordinate figure is sent to orientation and communication master control borad by computer, controls finishing machine and advances。
C, finishing machine are advanced simultaneously, the integrated navigation system work of Posture acquisition sensor and photoelectric encoder composition, the position of real time record finishing machine, and by the finishing machine actual coordinate recorded and angle feed-back to orientation and communication master control borad, be then passed to computer and carry out variance analysis adjustment。
D, computer by after internal system computational analysis, again reaching orientation and communication master control borad by analysiss result, and drive finishing machine achieves the goal position, so constantly carries out negative-feedback regu-lation, makes the path of finishing machine reach accurately。
E, multistage tool upper-lower height adjustment be separately separated, on tooth bar install cutter, small machine driven gear tooth bar moves up and down, it is achieved thereby that the height adjustment of multistage tool, the concavo-convex of lawn pattern also just obtains embodiment。
F, multistage tool rotation relevant with finishing machine place state, when finishing machine be in location adjustment state time, multistage tool does not rotate, when finishing machine start according to regulation mowing path walking time, multistage tool start rotate, complete mowing action。
Between motor and power supply that g, driving multistage tool rotate, relay is installed, relay is controlled by low and high level, cooperate with finishing machine state in step f, when finishing machine is in positioning states, relay pulse is low level, then power supply does not connect with the motor driving multistage tool, and cutter does not rotate；When walking in finishing machine path according to the rules, relay obtains high level, and multistage tool starts to rotate mows。
H, when finishing machine electric power deficiency, initial point will be automatically returned to and be charged by charging device, for repairing savings energy next time。
Advantages of the present invention: a kind of long-range control intelligence lawn art finishing machine receives in the lawn print area of post delineation at ultrasound wave, rely on computer intelligence algorithmic rule optimal path and determine whether print area, repaired in order by coordinate figure, it is achieved to the intelligence finishing on lawn in region；Finishing machine judges real-time coordinates by integrated positioning system, computer is by coordinate monitor in real time finishing path, and the auto-returned charging when electricity deficiency, the method increase the degree of intelligence of art finishing, having only to input default pattern or word on computers, it is possible to printed on lawn, automaticity is high, there is the feature of high-effect long distance rate, efficiently autonomous Intellectualized lawn dressing operation can be realized in the region of regulation。
Below with reference to accompanying drawing, the present invention is described in further details。
Accompanying drawing explanation
Fig. 1 is TV structure schematic diagram at the bottom of the present invention。
Fig. 2 is plan structure schematic diagram of the present invention。
Fig. 3 is alignment system schematic diagram of the present invention。
Fig. 4 is multistage tool schematic diagram of the present invention。
Fig. 5 is multilayered trim schematic diagram of the present invention。
Description of reference numerals: 1, finishing machine；2, orientation and communication master control borad；3, ultrasonic transmitter；4, ultrasound wave receives post；5, motor drives plate；6, Posture acquisition sensor；7, photoelectric encoder；8, multistage tool；9, computer；10, charging device；A, ground floor are repaired；B, the second layer are repaired；C, third layer are repaired。
Detailed description of the invention
Below in conjunction with concrete drawings and Examples, the invention will be further described。
Embodiment 1:
As depicted in figs. 1 and 2, a kind of remotely control intelligence lawn art finishing machine, including finishing machine 1, also include orientation and communication master control borad 2, ultrasonic transmitter 3, ultrasound wave receives post 4, motor drives plate 5, Posture acquisition sensor 6, photoelectric encoder 7, multistage tool 8, computer 9 and charging device 10, the front end of finishing machine 1 is equipped with a ultrasonic transmitter 3, and the tail end of finishing machine 1 receives post 4 with four ultrasound wave, equipped with orientation and communication master control borad 2 on finishing machine 1, motor drives plate 5, Posture acquisition sensor 6, photoelectric encoder 7, multistage tool 8 and charging device 10, computer 9 is remotely connected by radio channel and orientation and communication master control borad 2, and ultrasound wave receives post 4 and is arranged on around the print area of lawn, is connected by radio communication line with orientation and communication master control borad 2, ultrasonic transmitter 3, motor drives plate 5, Posture acquisition sensor 6, photoelectric encoder 7, multistage tool 8 is connected with orientation and communication master control borad 2, and computer 9 is used for drawing the pattern or track to repair, is connected by wireless and orientation and communication master control borad 2 and remotely controls finishing machine 1。
Described computer 9 can choose the planning with path according to what the figure of user's input carried out profile, and converts coordinate figure to by algorithm, is sent to orientation and communication master control borad 2 by radio communication line。
As it is shown on figure 3, described orientation and communication master control borad 2 is according to the coordinate figure received, controlling the course of finishing machine 1, the integrated navigation system being made up of Posture acquisition sensor 6 and photoelectric encoder 7, auxiliary ultrasonic range-measurement system completes being accurately positioned of finishing machine 1。
Described multistage tool 8 according to the difference of predetermined pattern or word, can regulate the height of cutter。
The type of drive of described finishing machine 1 is driven by power, is charged by charging device 10。
The coordinate figure that orientation and communication master control borad 2 sends according to computer 9 calculates course, plate 5 is driven to control the motion of finishing machine 1 by motor, when movement instruction is finished, ultrasonic transmitter 3 sends ultrasound wave, utilize ultrasonic measuring distance technology, measure and ultrasound wave receives the distance between post 4, calculate the coordinate figure of finishing machine 1 and repair；When ultrasonic measuring distance technology cannot complete to position, using the integrated navigation being made up of Posture acquisition sensor 6 and photoelectric encoder 7, extrapolate the coordinate figure of finishing machine 1, wherein Posture acquisition sensor 6 provides travel distance, and photoelectric encoder 7 provides attitude angle；The accurate finishing on lawn is completed by the real-time update of finishing machine 1 coordinate figure。
Embodiment 2:
Computer 9 and finishing machine 1 are coupled together by described orientation and communication master control borad 2 by wireless communication line, carry out data exchange, control the course of finishing machine 1。
Described computer 9 can choose the planning with path according to what the figure of user's input carried out profile, and converts coordinate figure to by algorithm, is sent to orientation and communication master control borad 2 by radio communication line。
Computer 9 inputs default pattern or word, the figure of pattern and word is converted to corresponding coordinate figure according to transfer algorithm, it is sent to orientation and communication master control borad 2 by wireless communication line, after finishing machine 1 advances to corresponding coordinate, orientation and communication master control borad 2 returns end mark, and computer 9 continues to send next coordinate figure to orientation and communication master control borad 2。So repeatedly, the transmission with coordinate figure is changed by the algorithm in path, it is possible to default pattern and word are printed on lawn。
Embodiment 3:
As shown in Figure 4 and Figure 5, finishing is highly configured by described computer 9 according to pattern or word, and is sent to orientation and communication master control borad 2 by radio communication line, and the height controlling multistage tool 8 repairs out stratified pattern or word。
Described region A is that the finishing machine 1 ground floor to lawn is repaired, and now multistage tool 8 is highly higher, with the general outline of prominent pattern or word。
Described region B is that the finishing machine 1 second layer to lawn is repaired, and now multistage tool 8 height reduction, for the major part of finishing pattern or word。
Described region C is that the finishing machine 1 third layer to lawn is repaired, and now multistage tool 8 is highly minimum, for the body portion of finishing pattern or word。
Adjusted the height of stage property and the accuracy in dolly path by above three region, just can intactly repair out required stratified pattern or word。
It is only more than illustration to the present invention, is not intended that the restriction to protection scope of the present invention, every belong within protection scope of the present invention with the same or analogous design of the present invention。
Claims (6)
1. a long-range control intelligence lawn art finishing machine, including finishing machine (1), orientation and communication master control borad (2), ultrasonic transmitter (3), ultrasound wave receives post (4), motor drives plate (5), Posture acquisition sensor (6), photoelectric encoder (7), multistage tool (8), computer (9) and charging device (10)；It is characterized in that: the front end of finishing machine (1) is equipped with a ultrasonic transmitter (3), the tail end of finishing machine (1) receives post (4) with four ultrasound wave, driving plate (5), Posture acquisition sensor (6), photoelectric encoder (7), multistage tool (8) and charging device (10) equipped with orientation and communication master control borad (2), motor on finishing machine (1), computer (9) is remotely connected by radio channel and orientation and communication master control borad (2)；Described ultrasound wave receives post (4) and is arranged on around the print area of lawn, being connected by radio communication line with orientation and communication master control borad (2), ultrasonic transmitter (3), motor drive plate (5), Posture acquisition sensor (6), photoelectric encoder (7), multistage tool (8) to be connected with orientation and communication master control borad (2)；Described computer (9) is used for drawing the pattern or track to repair, is connected by wireless and orientation and communication master control borad (2) and remotely controls finishing machine (1)。
2. remotely control intelligence lawn as claimed in claim 1 art finishing machine, it is characterized in that: described computer (9) can choose the planning with path according to what the figure of user's input carried out profile, and convert coordinate figure to by algorithm, it is sent to orientation and communication master control borad (2) by radio communication line。
3. remotely control intelligence lawn as claimed in claim 1 art finishing machine, it is characterized in that: described orientation and communication master control borad (2) is according to the coordinate figure received, control the course of finishing machine (1), the integrated navigation system being made up of Posture acquisition sensor (6) and photoelectric encoder (7), auxiliary ultrasonic range-measurement system completes being accurately positioned of finishing machine (1)。
4. remotely control intelligence lawn as claimed in claim 1 art finishing machine, it is characterised in that: described multistage tool (8) according to the difference of predetermined pattern or word, can regulate the height of cutter。
5. as claimed in claim 1 remotely control intelligence lawn art finishing machine, it is characterised in that: described finishing machine (1) be driven to driven by power, be charged by charging device (10)。
6. a long-range control intelligence lawn art finishing machine, it is characterised in that include following operating procedure:
A the targeted graphical of required finishing is plotted on computer (9) by (), then the computer (9) figure to drawing carries out profile and chooses and path planning, then by algorithm, result being carried out Coordinate Conversion, the flex point place generally choosing profile is zero。
B () initial point and coordinate are all determined after, starting orientation and communication master control borad (2), destination path coordinate figure is sent to orientation and communication master control borad (2) by computer (9), controls finishing machine (1) and advances。
C () finishing machine (1) is advanced simultaneously, the integrated navigation system work that Posture acquisition sensor (6) and photoelectric encoder (7) form, the position of real time record finishing machine (1), and by finishing machine (1) actual coordinate recorded and angle feed-back to orientation and communication master control borad (2), be then passed to computer (9) and carry out variance analysis adjustment。
D () computer (9) is by after internal system computational analysis, analysis result is reached again orientation and communication master control borad (2), finishing machine (1) is driven to achieve the goal position, so constantly carry out negative-feedback regu-lation, make the path of finishing machine (1) reach accurately。
E the upper-lower height adjustment of () multistage tool (8) is separately separated, tooth bar is installed cutter, small machine driven gear tooth bar moves up and down, it is achieved thereby that the height adjustment of multistage tool (8), the concavo-convex of lawn pattern also just obtains embodiment。
F the rotation of () multistage tool (8) is relevant with finishing machine (1) place state, when finishing machine (1) is in location adjustment state, multistage tool (8) does not rotate, when finishing machine (1) starts the mowing path walking according to regulation, multistage tool (8) starts to rotate, and completes mowing action。
G () drives and installs relay between motor and the power supply that multistage tool (8) rotates, relay is controlled by low and high level, cooperate with finishing machine in step (f) (1) state, when finishing machine (1) is in positioning states, relay pulse is low level, then power supply does not connect with the motor driving multistage tool (8), and cutter does not rotate；When walking in finishing machine (1) path according to the rules, relay obtains high level, and multistage tool (8) starts to rotate mows。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048255.4A CN105684630B (en) | 2016-01-26 | 2016-01-26 | A kind of remote control intelligence lawn art finishing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610048255.4A CN105684630B (en) | 2016-01-26 | 2016-01-26 | A kind of remote control intelligence lawn art finishing machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105684630A true CN105684630A (en) | 2016-06-22 |
| CN105684630B CN105684630B (en) | 2018-01-30 |
Family
ID=56229485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610048255.4A Expired - Fee Related CN105684630B (en) | 2016-01-26 | 2016-01-26 | A kind of remote control intelligence lawn art finishing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105684630B (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106105446A (en) * | 2016-07-08 | 2016-11-16 | 黄光瑜 | One is a farmer farming printer |
| CN106888691A (en) * | 2017-01-11 | 2017-06-27 | 江苏苏美达五金工具有限公司 | A kind of intelligent grass-removing return method and returning device |
| CN110095996A (en) * | 2018-01-30 | 2019-08-06 | 苏州宝时得电动工具有限公司 | Mowing method and mowing control device |
| CN110278769A (en) * | 2019-06-17 | 2019-09-27 | 郑州工程技术学院 | A kind of intelligence lawn art finishing machine |
| CN110312418A (en) * | 2017-11-16 | 2019-10-08 | 南京德朔实业有限公司 | Intelligent mowing system |
| WO2020038202A1 (en) * | 2018-08-18 | 2020-02-27 | 上海七桥机器人有限公司 | Method for forming pattern on lawn, and mowing system using same |
| CN111496898A (en) * | 2020-04-22 | 2020-08-07 | 合肥磐石数控科技有限公司 | Cutter calibration method for cutting machine |
| CN113475215A (en) * | 2021-06-19 | 2021-10-08 | 北京正兴鸿业金属材料有限公司 | Unmanned lawnmower using laser ranging and positioning control |
| US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| US11172605B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN113803304A (en) * | 2021-09-18 | 2021-12-17 | 北京林业大学 | Self-adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control |
| CN113924857A (en) * | 2020-07-10 | 2022-01-14 | 苏州宝时得电动工具有限公司 | Automatic mower, mowing system and processing method of mowing map |
| CN114868514A (en) * | 2022-04-13 | 2022-08-09 | 北京航空航天大学 | Lawn 3D printing system and method based on intelligent mowing robot |
| CN115885669A (en) * | 2022-12-27 | 2023-04-04 | 厦门市拙雅科技有限公司 | Gardening three-dimensional trimming method, system, robot, equipment and medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120158236A1 (en) * | 2010-12-16 | 2012-06-21 | Microinfinity, Inc. | Lawn mower for forming images |
| US20130247463A1 (en) * | 2012-03-19 | 2013-09-26 | Jan Lüschen | Method and Apparatus for Styling Grounds and Lawns |
| CN203872589U (en) * | 2014-01-02 | 2014-10-15 | 上海大学 | Mower for trimming patterns |
| CN105159290A (en) * | 2015-06-27 | 2015-12-16 | 张永恒 | Lawn trimming system and robot based on Internet of Things |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
-
2016
- 2016-01-26 CN CN201610048255.4A patent/CN105684630B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120158236A1 (en) * | 2010-12-16 | 2012-06-21 | Microinfinity, Inc. | Lawn mower for forming images |
| US20130247463A1 (en) * | 2012-03-19 | 2013-09-26 | Jan Lüschen | Method and Apparatus for Styling Grounds and Lawns |
| CN203872589U (en) * | 2014-01-02 | 2014-10-15 | 上海大学 | Mower for trimming patterns |
| CN105159290A (en) * | 2015-06-27 | 2015-12-16 | 张永恒 | Lawn trimming system and robot based on Internet of Things |
| CN105230225A (en) * | 2015-11-10 | 2016-01-13 | 闫夙 | Intelligentized precision automatic hay mower and control device thereof |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| US11832552B2 (en) | 2016-06-30 | 2023-12-05 | Techtronic Outdoor Products Technology Limited | Autonomous lawn mower and a system for navigating thereof |
| US11172605B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN106105446A (en) * | 2016-07-08 | 2016-11-16 | 黄光瑜 | One is a farmer farming printer |
| CN106888691A (en) * | 2017-01-11 | 2017-06-27 | 江苏苏美达五金工具有限公司 | A kind of intelligent grass-removing return method and returning device |
| CN110312418A (en) * | 2017-11-16 | 2019-10-08 | 南京德朔实业有限公司 | Intelligent mowing system |
| CN110095996A (en) * | 2018-01-30 | 2019-08-06 | 苏州宝时得电动工具有限公司 | Mowing method and mowing control device |
| WO2020038202A1 (en) * | 2018-08-18 | 2020-02-27 | 上海七桥机器人有限公司 | Method for forming pattern on lawn, and mowing system using same |
| CN110278769A (en) * | 2019-06-17 | 2019-09-27 | 郑州工程技术学院 | A kind of intelligence lawn art finishing machine |
| CN111496898B (en) * | 2020-04-22 | 2022-03-08 | 合肥磐石数控科技有限公司 | Cutter calibration method for cutting machine |
| CN111496898A (en) * | 2020-04-22 | 2020-08-07 | 合肥磐石数控科技有限公司 | Cutter calibration method for cutting machine |
| CN113924857A (en) * | 2020-07-10 | 2022-01-14 | 苏州宝时得电动工具有限公司 | Automatic mower, mowing system and processing method of mowing map |
| CN113475215B (en) * | 2021-06-19 | 2022-09-20 | 北京正兴鸿业金属材料有限公司 | Unmanned lawnmower using laser ranging and positioning control |
| CN113475215A (en) * | 2021-06-19 | 2021-10-08 | 北京正兴鸿业金属材料有限公司 | Unmanned lawnmower using laser ranging and positioning control |
| CN113803304A (en) * | 2021-09-18 | 2021-12-17 | 北京林业大学 | Self-adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control |
| CN113803304B (en) * | 2021-09-18 | 2023-04-11 | 北京林业大学 | Self-adaptive tree climbing and pruning system based on electro-hydraulic and pneumatic hybrid control |
| CN114868514A (en) * | 2022-04-13 | 2022-08-09 | 北京航空航天大学 | Lawn 3D printing system and method based on intelligent mowing robot |
| CN114868514B (en) * | 2022-04-13 | 2023-09-29 | 北京航空航天大学 | Lawn 3D printing system and method based on intelligent mowing robot |
| CN115885669A (en) * | 2022-12-27 | 2023-04-04 | 厦门市拙雅科技有限公司 | Gardening three-dimensional trimming method, system, robot, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105684630B (en) | 2018-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105684630A (en) | Remote control intelligent lawn art trimming machine | |
| CN110168466B (en) | Intelligent mowing system | |
| CN110488598A (en) | Air-ground amphibious unmanned vehicle control | |
| CN105563485B (en) | A kind of meal delivery robot control system control method of motion trace | |
| WO2017198209A1 (en) | Combined robot and cruising path generation method therefor | |
| CN110281108A (en) | A kind of robot flexibility intelligence polishing system based on six-dimension force sensor | |
| CN110754204B (en) | Lawn three-dimensional pattern trimming robot system and method | |
| CN104808590B (en) | Mobile robot visual servo control method based on key frame strategy | |
| CN105353758A (en) | Precise automatic lawnmower distributed beacon laser positioning and trajectory control system | |
| CN114341760A (en) | Sensor fusion for positioning and path planning | |
| CN105723916A (en) | Intelligent artistic lawn-trimming machine | |
| CN101916071A (en) | CPG feedback control method of biomimetic robot fish movement | |
| CN107414624A (en) | Automate the concrete polished system of terrace robot | |
| CN109870958B (en) | Intelligent sprinkling irrigation control system and method for special-shaped area | |
| CN111176282A (en) | Method and system for setting boundary and self-walking equipment | |
| CN208379839U (en) | A kind of large space robot module partition furred ceiling decorating apparatus | |
| WO2023173903A1 (en) | Remote intelligent variable-rate irrigation apparatus for photovoltaic-driven translational sprinkler | |
| JP2022159504A (en) | Control system and method for optimizing machine placement for additional construction operation | |
| CN114035568A (en) | Method for planning path of stratum drilling robot in combustible ice trial production area | |
| CN107037822B (en) | Plant protection unmanned aerial vehicle spray head, radar automatic adjusting device and application method thereof | |
| CN104677352A (en) | Data acquisition method and device for geomagnetic indoor positioning reference map | |
| CN108107881A (en) | A kind of new orchard operation machine people's device and method | |
| DE102014212399A1 (en) | Arbeitsbereichsmarkiervorrichtung | |
| CN113491180B (en) | Garden operation robot | |
| CN209703242U (en) | Novel intelligentized miniature laser paver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20200126 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |